Force sensing mechanism characteristic measurement device

Abstract

The present invention provides a force sensing mechanism characteristic measuring device, comprising a fixed bracket, a connecting handle, a force measuring rod, a tension and pressure sensor, an angle sensor mounting bracket, an angle sensor, a turntable mechanism, a control motor, a disengagement joint and a manual operating mechanism. The force sensing mechanism characteristic measuring device of the present invention integrates the functions of force sensing mechanism characteristic measurement and durability testing, so the operation is convenient and smooth, and the force sensing mechanism is driven by the circular motion of the turntable mechanism, so the stability is strong and the reliability is high. Furthermore, the force characteristics are transmitted by the designed rod mechanism, which not only makes the force characteristics easy to measure, but also improves the precision and accuracy of the data by integrating the signal sensor in the rod. In addition, the force sensing mechanism can be tested bidirectionally through unidirectional driving. Finally, it has a disengagement structure, so as to ensure good support fixity while eliminating interference with the input on the other side when performing characteristic or durability testing.

Description

Technical Field

[0001] The present invention relates to the field of aircraft flight control system mechanism performance evaluation and verification, and specifically to a performance test integrated device. More specifically, the present invention relates to a force sensing mechanism characteristic measurement device, which proposes a driving mode of a turntable mechanism circular motion and a force transmission form of a pull rod mechanism connection, manually or motor-driven force sensing mechanism operation, and measures the force sensing mechanism characteristics through a sensor in the measuring device. Background Art

[0002] In the field of flight, aircraft maneuverability refers to the characteristics of the aircraft responding to the pilot's manipulation. The pilot mainly uses the control panel (stick) and pedals to control the elevator, rudder, and ailerons to change the aircraft from one flight state to another to complete takeoff, climb, cruise, descent, approach and landing. Maneuverability is one of the important flight qualities of an aircraft and an important part of flight mechanics research. The input of the manipulation is the force applied by the pilot to the control stick or pedals and the displacement of the stick and pedals, and the output is the change of the aircraft's motion parameters, such as angle of attack, sideslip angle, bank angle, various angular velocities, flight speed, altitude and overload.

[0003] There are three main aspects to assess the quality of maneuverability: ① Appropriate control force, not too large or too small. The pilot controls the aircraft precisely by applying the force. There are certain requirements for the direction, size and change of the force under various circumstances. ② Driving displacement (the displacement of the joystick or pedal caused by the control) should be kept within a certain range. ③ The ratio of control input to output should be appropriate. If it is too small, the aircraft will be too sensitive and difficult to control, and it will also cause stall or damage to the structure due to excessive reaction. If it is too large, the aircraft will appear too slow. Maneuverability can be divided into static maneuverability and dynamic maneuverability. The former studies the control amount in the equilibrium state, and the latter studies the whole process of input and output changes over time in the control movement. According to the different motion parameters studied, like the safety of the aircraft, it is also divided into longitudinal maneuverability, heading maneuverability and lateral maneuverability. There is a close and contradictory relationship between maneuverability and stability. Strong maneuverability means weak stability, and vice versa. Both must be considered comprehensively during design.

[0004] As an important equipment of the aircraft, the force sensing mechanism plays an important role when the pilot is operating the aircraft. It provides a sense of flight control and reflects the ergonomics of the pilot's operation and the aircraft's maneuverability.

[0005] However, the existing force sensing mechanism testing device has the following obvious shortcomings:

[0006] First, the existing force sensing mechanism performance test is generally carried out by a manual test device, but the manual test device has a complex structure and is extremely weak in versatility;

[0007] Second, the durability test of the force sensing mechanism is carried out by building a control system bench, but the operation is cumbersome;

[0008] Third, the durability test of the force-sensing mechanism is carried out by establishing a driving mechanism system, but this makes the collection of some characteristic parameters extremely inconvenient.

[0009] In view of the above content, it can be known that there is no such force sensing mechanism characteristic measurement device in the technical field at present. Different from the existing force sensing mechanism test device, it can combine the force sensing mechanism performance test bench and the force sensing mechanism durability test scheme, combine the force sensing mechanism characteristic state, and cleverly use the rotational force transmission connection form. The relevant characteristics of the force sensing mechanism are obtained through high-precision sensors installed on the key structure. According to the test purpose, the motor or manual method can be selected to drive the measurement device. The device can realize both the performance test of the force sensing mechanism and the durability test. The test of the bidirectional movement of the force sensing mechanism is realized through the unidirectional operation mode driven by the motor, so as to optimize the device structure, which not only avoids the excessive test error caused by the complexity of the device, but also ensures the accuracy and stability of the measurement precision. Therefore, how to design a force sensing mechanism characteristic measurement device that can meet the above needs has become a technical problem that needs to be solved urgently. Summary of the invention

[0010] The present invention is made to solve the above technical problems, and its purpose is to provide a force sensing mechanism characteristic measurement device, which can effectively and accurately measure the performance characteristics of the force sensing mechanism, and can also perform durability tests on the force sensing mechanism. It is a functionally integrated testing device, which can measure the force characteristics and angles of the force sensing mechanism, and perform durability tests on the force sensing mechanism. It is of great significance to the flight control quality evaluation and ergonomics evaluation.

[0011] In order to solve the above-mentioned invention object, the present invention provides a force sensing mechanism characteristic measuring device, comprising a fixed bracket, a connecting handle, a force measuring rod, a tension and pressure sensor, an angle sensor mounting bracket, an angle sensor, a turntable mechanism, a control motor, a disengagement joint and a manual operating mechanism, wherein the force sensing mechanism is fixed on the fixed bracket, the connecting handle connects the input shaft of the force sensing mechanism and one end of the force measuring rod, the angle sensor is installed at the input shaft end of the force sensing mechanism to measure the angle characteristic, the tension and pressure sensor is installed in the middle of the force measuring rod to measure the force characteristic of the force sensing mechanism, the other end of the force measuring rod is connected to the circumferential edge of the turntable mechanism, so that the movement of the turntable mechanism drives the force sensing mechanism to move, the turntable mechanism is driven by the manual operating mechanism or the control motor in the form of a concentric connecting rod, and the disengagement joints are respectively provided between the manual operating mechanism and the control motor and the turntable mechanism to disengage the two.

[0012] Preferably, in the force sensing mechanism characteristic measuring device of the present invention, the fixing bracket can be fixedly installed and adjusted according to different types of force sensing mechanisms, or can be specially customized according to the installation form design of the force sensing mechanism.

[0013] Preferably, in the force sensing mechanism characteristic measuring device of the present invention, a slot is provided at one end of the connecting handle, and a bolt hole is provided on its side, and the force sensing mechanism input shaft is inserted into the slot and screwed into the bolt hole to fix and lock the connecting handle and the force sensing mechanism input shaft together.

[0014] Preferably, in the force sensing mechanism characteristic measuring device of the present invention, a bolt hole is provided at the other end of the connecting handle, and the force measuring pull rod is fixedly connected to the connecting handle by screwing a bolt into the bolt hole.

[0015] Preferably, in the force sensing mechanism characteristic measuring device of the present invention, the turntable mechanism is composed of two turntable parts, the center of the turntable on one side of the turntable mechanism is connected to the control motor or manual operation mechanism, and the circumferential edge of the turntable on the other side of the turntable mechanism is provided with a connecting rod.

[0016] Preferably, in the force sensing mechanism characteristic measuring device of the present invention, one end of the force measuring rod is fixedly connected to the connecting rod through a bearing, and the other end of the force measuring rod is fixedly connected to the other end of the connecting handle through a bolt.

[0017] Preferably, in the force sensing mechanism characteristic measuring device of the present invention, the force measuring rod and the tension and pressure sensor are connected and installed together by means of threads.

[0018] Preferably, in the force sensing mechanism characteristic measuring device of the present invention, the angle sensor mounting bracket is connected to the central internal thread of the force sensing mechanism input shaft through the external thread of the bracket connecting end.

[0019] Preferably, in the force sensing mechanism characteristic measuring device of the present invention, the angle sensor mounting bracket is used to fix the angle sensor and provide an interface for the installation of the angle sensor.

[0020] Preferably, in the force sensing mechanism characteristic measuring device of the present invention, the control motor is connected to the axis of the turntable on one side through the motor output shaft, so as to provide power for the force sensing mechanism.

[0021] Preferably, in the force sensing mechanism characteristic measuring device of the present invention, the disengagement joint is a built-in slot structure. When connected to the control motor or the manual operating mechanism, the slot at the end of the control motor or the manual operating mechanism is inserted into the slot in the disengagement joint, thereby driving the turntable mechanism to move.

[0022] Preferably, in the force sensing mechanism characteristic measuring device of the present invention, the measuring device interface of the force sensing mechanism characteristic measuring device is replaceable so as to be applicable to force sensing mechanisms of different sizes.

[0023] Due to the above technical solution, compared with the prior art, the force sensing mechanism characteristic measuring device of the present invention has the following advantages:

[0024] 1. The force sensing mechanism characteristic measuring device of the present invention is easy to operate and integrates the functions of force sensing mechanism characteristic measurement and durability testing;

[0025] 2. The force sensing mechanism characteristic measuring device of the present invention drives the force sensing mechanism through the circular motion of the turntable mechanism, and has strong stability and high reliability;

[0026] 3. The force sensing mechanism characteristic measuring device of the present invention transmits force characteristics through the designed pull rod mechanism, which makes it easy to measure the force characteristics. At the same time, the pull rod integrates a signal sensor, which improves the precision and accuracy of the data;

[0027] 4. The force sensing mechanism characteristic measuring device of the present invention realizes bidirectional testing of the force sensing mechanism through unidirectional driving;

[0028] 5. The force sensing mechanism characteristic measuring device of the present invention has a disengagement structure, which can ensure that interference with the input on the other side is eliminated when performing characteristic or durability testing, and at the same time has good support fixation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solution provided by the present invention, the following is a brief introduction to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention.

[0030] - Figure 1 The overall structure diagram of a preferred embodiment of the force sensing mechanism characteristic measuring device of the present invention is schematically shown;

[0031] - Figure 2 Schematically shows Figure 1 The schematic diagram of the overall structure of the force sensing mechanism characteristic measuring device of the present invention after the force sensing mechanism is installed;

[0032] - Figure 3 Schematically shows Figure 1 The structural schematic diagram of the connecting handle in the force sensing mechanism characteristic measuring device of the present invention is shown;

[0033] - Figure 4 Schematically shows Figure 1 A schematic structural diagram of a force measuring rod in a force sensing mechanism characteristic measuring device of the present invention is shown; and

[0034] - Figure 5 Schematically shows Figure 1 The figure shows a schematic diagram of the structure of the disengagement section in the device for measuring the characteristics of the force sensing mechanism of the present invention.

[0035] List of reference numerals in the figures in the technical solutions and embodiments:

[0036] 1 Fixing bracket

[0037] 11 Center hole

[0038] 2 Connecting handle

[0039] 2a Connecting handle end

[0040] 2b Connect the other end of the handle

[0041] 21 Card slot

[0042] 22 Bolt holes

[0043] 23 Bolt holes

[0044] 24 Bolts

[0045] 3 Force measuring rod

[0046] 3a One end of the force measuring rod

[0047] 3b The other end of the force measuring rod

[0048] 4 Tension pressure sensor

[0049] 5 Angle sensor mounting bracket

[0050] 5a Bracket connection end

[0051] 6 Angle sensor

[0052] 7 Turntable mechanism

[0053] 71 Connecting rod

[0054] 8 Control Motor

[0055] 801 motor output shaft

[0056] 9 Breakaway

[0057] 81 Card slot

[0058] 82 Bearings

[0059] 91 Card slot

[0060] 92 Bearings

[0061] 10 Manual operating mechanism

[0062] 101 Output shaft

[0063] 100 Force sensing mechanism

[0064] 1001 Force sensing mechanism input shaft DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the implementation of the present invention clearer, the technical solution in the embodiment of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiment of the present invention.

[0066] In this regard, it should be pointed out that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes in design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means, and should not be understood as insufficient content of this disclosure.

[0067] In addition, it should be noted that, unless otherwise defined, the technical terms or scientific terms used in the claims and the specification should have the usual meanings understood by persons with ordinary skills in the technical field to which the invention belongs. "One" or "an" and other similar words do not indicate a quantitative limitation, but rather indicate the presence of at least one. "Include" or "comprises" and other similar words mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects. "Connected" or "connected" and other similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0068] The following will be combined Figure 1 -5 The present invention is described in detail so that the advantages and features of the present invention can be easily understood by those skilled in the art, thereby making a clearer definition of the scope of the present invention.

[0069] First, in general, the force sensing mechanism characteristic measurement device of the present invention is used in the characteristic and performance testing of the aircraft force sensing mechanism, and is used to measure the key characteristics and performance of the force sensing mechanism, providing support for human-machine ergonomics, manipulation control quality and mechanism performance analysis.

[0070] The following is a detailed description of the structure of the force sensing mechanism characteristic measuring device of the present invention and the functions of each component:

[0071] Figure 1 and 2 The overall structure diagram of a preferred embodiment of the force sensing mechanism characteristic measuring device of the present invention and the overall structure diagram after the force sensing mechanism is installed are schematically shown. As shown in the figure, in general, the force sensing mechanism characteristic measuring device of the present invention includes a fixing bracket 1, a connecting handle 2, a force measuring rod 3, a tension and pressure sensor 4, an angle sensor mounting bracket 5, an angle sensor 6, a turntable mechanism 7, a control motor 8, a disengagement joint 9 and a manual operating mechanism 10.

[0072] Fixed bracket 1

[0073] like Figure 1 and 2 As shown, the fixing bracket 1 is used to fix the force sensing mechanism 100 , and the input shaft 1001 of the force sensing mechanism 100 passes through the central hole 11 of the fixing bracket 1 .

[0074] The fixing bracket 1 can be fixedly installed and adjusted according to the force sensing mechanism of different models, and can also be specially customized according to the installation form design of the force sensing mechanism.

[0075] Connecting handle 2

[0076] like Figure 1 and 2 As shown, the connecting handle 2 is used to connect the input shaft 1001 of the force sensing mechanism 100 and the force measuring rod 3 .

[0077] For clarity, Figure 3 The schematic diagram of the structure of the connecting handle 2 is shown schematically. Preferably, Figure 3 As shown, one end 2a of the connecting handle 2 is provided with a slot 21, and a bolt hole 22 is provided on the side thereof. The input shaft 1001 of the force sensing mechanism is inserted into the slot 21 and screwed into the bolt hole 22 by a bolt 24, thereby fixing and locking the connecting handle 2 and the input shaft 1001 of the force sensing mechanism together. The other end 2b of the connecting handle 2 is provided with a bolt hole 23, and the force measuring rod 3 is fixedly connected to the connecting handle by screwing the bolt into the bolt hole 23.

[0078] Force measuring rod 3

[0079] like Figure 1 and 2 As shown, the force measuring rod 3 is used to transmit the control input generated on the turntable mechanism 7 to the connecting handle 2.

[0080] For clarity, Figure 4The schematic diagram of the structure of the force measuring rod 3 is shown schematically. Preferably, Figure 1 , 2 As shown in FIG. 4 , one end 3a of the force measuring rod 3 is fixedly connected to a connecting rod 71 located between two rotating disk members 7 through a bearing. The connecting rod 71 is located on the circumference of one of the rotating disk members 7. The other end 3b of the force measuring rod 3 is fixedly connected to the other end 2b of the connecting handle 2 through a bolt. In addition, the force measuring rod 3 and the tension and pressure sensor 4 are installed together through a threaded connection.

[0081] Tension pressure sensor 4

[0082] like Figure 1 and 2 As shown, the tension and pressure sensor 4 is used to measure the force characteristics of the force sensing mechanism 100 .

[0083] The tension and pressure sensor 4 is installed in the middle of the force measuring rod 3. Preferably, the tension and pressure sensor 4 is connected to the force measuring rod 3 on both sides thereof by screwing.

[0084] Angle sensor mounting bracket 5

[0085] like Figure 1 and 2 As shown, the angle sensor mounting bracket 5 is used to fix the angle sensor 6 and provide an interface for the installation of the angle sensor 6 .

[0086] Preferably, the angle sensor mounting bracket 5 is connected to the central internal thread of the input shaft 1001 of the force sensing mechanism 100 through the external thread of the bracket connecting end 5a.

[0087] Angle sensor 6

[0088] like Figure 1 and 2 As shown, the angle sensor 6 is used to measure the angular displacement of the force sensing mechanism 100 .

[0089] Preferably, the angle sensor 6 is fixed to the angle sensor mounting bracket 5 .

[0090] Turntable mechanism 7

[0091] like Figure 1 and 2 As shown, the turntable mechanism 7 is composed of two turntable members. The center of the turntable on one side of the turntable mechanism 7 is connected to the control motor 8 or the manual operating mechanism 10, and the circumferential edge on the other side of the turntable mechanism 7 is provided with a connecting rod 71, which is used to fix the two turntable members so that they move synchronously, and the connecting rod 71 is used to connect the force measuring rod 3 to transmit the control command.

[0092] Control motor 8

[0093] like Figure 1 and 2 As shown, the control motor 8 is connected to the axis of one side of the turntable member through the motor output shaft 801, which is used to provide power for the force sensing mechanism 100, thereby realizing periodic regular control signal input for durability testing of the force sensing mechanism 100.

[0094] Disconnection Section 9

[0095] For clarity, Figure 5 The schematic diagram of the structure of the disengagement section is shown schematically. Figure 1 , 2 As shown in Figures 5 and 6, two disengaging sections 9 are provided, which are respectively located between the control motor 8 and the turntable member on one side of the turntable mechanism 7 and between the manual operating mechanism 10 and the turntable member on the other side of the turntable mechanism 7. Preferably, the disengaging section 9 is a built-in slot structure, and when connected to the control motor 8 or the manual operating mechanism 10, the slot 81 at the end of the control motor 8 or the manual operating mechanism 10 is inserted into the slot 91 in the disengaging section 9, thereby driving the turntable mechanism 7 to move. When one side of the control motor 8 or the manual operating mechanism 10 is disengaged, the disengaging section 9 on that side moves outward, whereby the slot connection is interrupted, so that the bearing 82 of the control motor 8 or the manual operating mechanism 10 contacts the bearing 92 in the disengaging section 9, for support and fixation, to ensure that both sides of the turntable mechanism 7 are supported at the same time. As shown in Figures 5 and 6, the disengaging section 9 is a structure in which the control motor 8 or the manual operating mechanism 10 is connected to the turntable mechanism 7. Figure 5 As shown, the disconnection section 9 is used to cut off the control input end on one side, thereby ensuring that the control input end on the other side is input so that there is no other external interference when the force sensing mechanism works.

[0096] Manual operating mechanism 10

[0097] like Figure 1 and 2 As shown, the output shaft 101 of the manual operating mechanism 10 is connected to the axis of the turntable member on one side of the turntable mechanism 7 to provide input for the force sensing mechanism 100, thereby realizing instantaneous control signal input at any position for the purpose of characteristic testing of the force sensing mechanism 100.

[0098] The measuring device interface of the force sensing mechanism characteristic measuring device of the present invention is replaceable, and is applicable to the force sensing mechanisms of manipulators of different sizes. At the same time, the data measured by the sensor integrated in the measuring device has high accuracy and reliability. The driving mode of the circular motion of the turntable mechanism and the force transmission form of the pull rod mechanism connection are proposed, and the structural connection form of the device has high stability. The driving form can be selected as manual or motor form according to the purpose of the force sensing mechanism characteristic test.

[0099] When operating the force sensing mechanism characteristic measuring device of the present invention, the force sensing mechanism 100 is first fixed to the fixed bracket 1, and then the force sensing mechanism input shaft 1001 and the force measuring rod 3 are connected through the connecting handle 2. At the same time, an angle sensor 6 is installed at the end of the force sensing mechanism input shaft 1001 to measure the angle characteristic, and a tension and pressure sensor 4 is installed in the middle of the force measuring rod 3 to measure the force characteristic of the force sensing mechanism. The other end 3b of the force measuring rod 3 is connected to the circumferential edge of the turntable mechanism 7, and the movement of the turntable mechanism 7 drives the force sensing mechanism 100 to move. The turntable mechanism 7 is driven by a manual operating mechanism 10 or a control motor 8 in the form of a concentric connecting rod. A disengagement section 9 is provided between the manual operating mechanism 10 and the turntable mechanism 7 to facilitate the disengagement of the two. At the same time, a disengagement section is also provided between the control motor 8 and the turntable mechanism 7 to facilitate the disengagement of the two. In this way, it can be ensured that when one side is driven, there is no other external interference on the other side.

[0100] In view of the above, the core technology of the present invention is different from the existing force sensing mechanism characteristic measurement device:

[0101] 1. The structure of the measuring device designed in combination with the working characteristics of the force sensing mechanism;

[0102] 2. Bidirectional testing scheme of force sensing mechanism realized by unidirectional drive;

[0103] 3. Application and form of the disconnect joint in the device;

[0104] 4. An integrated design scheme for testing the characteristics and durability of force sensing mechanisms.

[0105] Due to the above technical scheme, compared with the prior art, the force sensing mechanism characteristic measuring device of the present invention integrates the functions of force sensing mechanism characteristic measurement and durability testing, so it is convenient and smooth to operate, and the circular motion of the turntable mechanism drives the force sensing mechanism, so it has strong stability and high reliability. Furthermore, the force characteristics are transmitted through the designed pull rod mechanism, which not only makes it easy to measure the force characteristics, but also improves the precision and accuracy of the data by integrating the signal sensor in the pull rod. In addition, two-way testing of the force sensing mechanism is achieved through unidirectional driving. Finally, it has a disengagement structure to ensure that while eliminating interference with the input on the other side when performing characteristic or durability testing, it can also ensure good support fixation.

[0106] The preferred embodiments of the present invention have been described in detail above, but it should be understood that after reading the above teachings of the present invention, those skilled in the art will easily think of other advantages and modifications. Therefore, in its broader aspects, the present invention is not limited to the specific details and representative embodiments shown and described herein. Therefore, those skilled in the art can reasonably combine or modify the elements of the above embodiments so as to make various modifications without departing from the spirit or scope of the general inventive concept of the present invention as defined by the attached claims and their equivalents.

Claims

1. A force sensing mechanism characteristic measuring device, comprising a fixing bracket, a connecting handle, a force measuring rod, a tension and pressure sensor, an angle sensor mounting bracket, an angle sensor, a turntable mechanism, a control motor, a disengagement joint and a manual operating mechanism, in, The force sensing mechanism is fixed on the fixed bracket, the connecting handle is connected to the input shaft of the force sensing mechanism and one end of the force measuring rod, the angle sensor is installed at the input shaft end of the force sensing mechanism to measure the angle characteristics, the tension and pressure sensor is installed in the middle of the force measuring rod to measure the force characteristics of the force sensing mechanism, and the other end of the force measuring rod is connected to the circumferential edge of the turntable mechanism so that the movement of the turntable mechanism drives the force sensing mechanism to move. The turntable mechanism is driven by the manual operating mechanism or the control motor in the form of a concentric connecting rod, and the disengagement joints are respectively provided between the manual operating mechanism and the control motor and the turntable mechanism to disengage the two.

2. The force sensing mechanism characteristic measuring device according to claim 1, characterized in that: The fixing bracket can be fixedly installed and adjusted according to the force sensing mechanism of different models, or can be specially customized according to the installation form design of the force sensing mechanism.

3. The force sensing mechanism characteristic measuring device according to claim 1, characterized in that: A slot is provided at one end of the connecting handle, and a bolt hole is provided on the side thereof. The input shaft of the force sensing mechanism is inserted into the slot and screwed into the bolt hole by a bolt, so that the connecting handle and the input shaft of the force sensing mechanism are fixed and locked together.

4. The force sensing mechanism characteristic measuring device according to any one of claims 1 to 3, characterized in that: The other end of the connecting handle is provided with a bolt hole, and the force measuring pull rod is fixedly connected to the connecting handle by screwing a bolt into the bolt hole.

5. The force sensing mechanism characteristic measuring device according to claim 1, characterized in that: The turntable mechanism is composed of two turntable parts. The center of the turntable on one side of the turntable mechanism is connected to the control motor or the manual operating mechanism, while the circumferential edge of the turntable on the other side of the turntable mechanism is provided with a connecting rod.

6. The force sensing mechanism characteristic measuring device according to claim 5, characterized in that: One end of the force measuring rod is fixedly connected to the connecting rod through a bearing, and the other end of the force measuring rod is fixedly connected to the other end of the connecting handle through a bolt.

7. The force sensing mechanism characteristic measuring device according to claim 1, characterized in that: The force measuring rod and the tension and pressure sensor are connected and installed together through threads.

8. The force sensing mechanism characteristic measuring device according to claim 1, characterized in that: The angle sensor mounting bracket is connected to the central internal thread of the force sensing mechanism input shaft through the external thread of the bracket connection end.

9. The force sensing mechanism characteristic measuring device according to claim 1, characterized in that: The angle sensor mounting bracket is used to fix the angle sensor and provide an interface for the installation of the angle sensor.

10. The force sensing mechanism characteristic measuring device according to claim 5, characterized in that: The control motor is connected to the axis of the turntable on one side through the motor output shaft, and is used to provide power for the force sensing mechanism.

11. The force sensing mechanism characteristic measuring device according to claim 1, characterized in that: The disengagement joint is a built-in slot structure. When connected to the control motor or the manual operating mechanism, the slot at the end of the control motor or the manual operating mechanism is inserted into the slot in the disengagement joint, thereby driving the turntable mechanism to move.

12. The force sensing mechanism characteristic measuring device according to claim 1, characterized in that: The measuring device interface of the force sensing mechanism characteristic measuring device can be replaced to be suitable for force sensing mechanisms of different sizes.

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